Questions tagged [differential-drive]

Differential drive is a commonly used drive system, which consists of two independently controlled wheels.

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Trajectory tracking problem for non-holonomic mobile robots

Currently, I am working on the trajectory tracking problems of autonomous ground vehicle and a little confused about the applicability of control theory for different types of wheeled mobile robots. ...
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how to implement autonomous navigation using lidar and hector?

I want to make an autonomous mobile robot, which can localise itself and navigate to the goal in an unknown environment. As sensor, i just have a RPLidar to get laser scan, that's it. I used Hector ...
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Robot trajectory generation; path-paramerization

I have a differential drive robot, and it's supposed to drive on a parabolic function $(f(x) = x^2)$. But for all control algorithms, you have a trajectory given as $f(s)$ or $f(t)$. I want to use ...
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Roomba Create 2: how to convert steering angle to radius?

I want to set the steering angle for Roomba Create 2, and as far as I understand I can do this by setting a turning radius for the Roomba Create 2. My question is: How to convert steering angle to ...
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Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots

I am practicing C++ and intro to robotics using a simple differential drive robot and a raspberry pi. Also following along the GA Tech course on control of mobile robotics. The implementation I am ...
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Motor encoders randomly start counting backward, then go back to normal

I am making an Arduino-controlled differential drive robot, and I am having the following problems: the encoders built into the motors are being used for measuring the rotary displacement, and while ...
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164 views

Inverse kinematics for differential robot knowing linear and angular velocities

I have a differential robot and I am using ROS to run it. When I need to move the robot, I can send commands to it, specifically linear X and angular Z velocities. Linear X is in m/s whereas angular Z ...
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120 views

4 Wheel Differential Drive Robot with different speeds

Differential drive robot with 4 wheels, If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed ) in general, would that generate more ...
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710 views

ROS Gazebo Odometry Issue

I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
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229 views

What is difference between 2 wheels and 4 wheels and tracked differential mobile base kinematics?

In generally I know that no difference between 2WD and 4WD mobile base control kinematics equations. but is there really difference between two wheels differential mobile base and tracked/...
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1answer
904 views

calculating differential drive robot ICC position

I don't understand how to calculate the ICC position with the given coordinates. I somehow just have to use basic trigonometry but I just can't find a way to calculate the ICC position based on the ...
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305 views

Understanding differential drive

I am a beginner in robotics and I have just come across the concepts of differential and steer drive. I don't understand them very clearly yet. I found the following write up describing differential ...
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1answer
47 views

How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?

I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath. I've gotten to the point where I have a very small, single purpose ...
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Forward Kinematics od Differential Robot

r = 1; w1 = 4; w2 = 2; l = 1; R = [0 -1 0; 1 0 0; 0 0 1]; X = [(r*w1)/2 + (r*w2)/2; 0 ; (r*w1)/(2*l) - (r*w2)/(2*l)]; A = R*X; disp(A) I am getting the solution ...
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536 views

Differential Drive Odometry Model

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353 views

Reward Function for q learning on a robot

I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
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191 views

Q Learning And Kohonen Maps For Line Follower Robot

I'm trying to build a line follower robot and I'm interested in predicting the curves on the track. I have 8 binary sensor array(qre1113). My goal is to make a system that it can generalize what it ...
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250 views

Handling of a 4WD robot frame as a 2 wheel differential drive

I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. At the moment I'm thinking of handling it like a 2 wheel differential drive. Left and right wheels would receive the same ...
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How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is ...
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Plotting location using wheel encoder data

Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/] The UGV image - via the SFU Mountain Dataset website: I have used the following state update ...
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997 views

Standard equation for steering differential drive robot

I am writing a code in Arduino IDE for NodeMCU Board to control a differential drive 2 wheeled robot. I am able to steer only one direction for some reason and the steering response time is a little ...
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How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
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1answer
5k views

How to perform odometry on an arduino for a differential wheeled robot?

I am using a differential wheel robot for my project. I need to know the current coordinates of the robot with respect to it's initial position taken as the origin. I m doing the computation on an ...
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37 views

Error as a State space

I am reading the following research paper regarding Trajectory tracking of mobile robots. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5415188 There are two things at the start of the ...
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669 views

Changing tank drive (differential) mode to single joystick drive mode

I bought 2 brushed motor controllers from China to use within my hobby-weight battle robot (http://www.banggood.com/ESC-Brushed-Speed-Controller-For-RC-Car-Truck-Boat-320A-7_2V-16V-p-915276.html). ...
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603 views

Acceleration formula for a differential steering robot

I have the formulas to derive the RPM's of each wheel from the robot's linear velocity. Now, I am trying to do the same thing for the acceleration (mainly angular acceleration). For linear ...
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686 views

ROS NavStack with Skid Steering robots

I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in ...
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524 views

IMU based acceleration parameters for differential drive robot

I have a differential drive robot whose motors are virtually quiet while driving on a completely flat surface, but the motors make a lot of noise when on a incline. This is likely due to the ...
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1answer
241 views

Designing compatible spur gears for a robot gearbox

I'm trying to increase the torque on the output shaft of my robot's gearbox. I have a motor with a pinion attached to it with 8 teeth. I want to create a gear with 33 teeth that will mesh with the ...
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379 views

How to calibrate differential drive?

I'm building a robot with differential drive. I've reached the point when I can drive it around on remote control and I'm trying to get the localization working. Now I would like to exactly measure ...
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1k views

Differential Drive Robot Control

Edited: I have a differential drive robot that needs to drive down a hall and stay in the center. I have 4 ultra sonic sensors, 2 on each side. Currently, I thought of implementing pure pursuit and ...
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3answers
517 views

Differential Drive Robot on uneven surfaces

So I am building a differential drive robot and I want it to autonomously drive in a straight line on an uneven surface. I know I need a position and velocity PID. As of now, I am deciding on which ...
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4k views

differential drive PID controller

I have a differential drive robot that works fine (good PD parameters) driving at say 1 m/s. Now, if it speeds up (to 1.2 m/s) it starts wobbling again. What would be a good strategy for a controller ...
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933 views

Differential drive trajectory following control

I have a robot platform with differential drive which knows it's position and orientation. Lets say that the space through which the robot moves is known and it has only static obstacles. The task is ...
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271 views

Generic name for two-motor wheeled/tracked robots?

Is there a generic name for the category of robots that move using two opposing wheels or tank-like treads?
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587 views

Roller Screw drive - axial movement instead of friction

I need an equation or a some hints to solve the following problem. Imagine a roller screw drive. I apply a torque of T to translative move my load mass ...
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9k views

Approach to using PID to get a differential robot driving straight

Consider a differential drive robot that has two motorized wheels with an encoder attached to each for feedback. Supposed there is a function for each DC motor that takes a float from -1 to 1 and sets ...